Research on Three-Dimensional Shape Curve Reconstruction Technology for a Scraper Conveyor on an Intelligent Working Face

Abstract

“Three straight and two flat” is the inevitable demand when realizing the intelligent mining of a fully mechanized mining face. To address the crucial technical issue of lacking accurate perception of the shape of the scraper conveyor during intelligent coal mining, a three-dimensional curvature sensor involving fiber Bragg grating (FBG) is used as a perceptive tool to conduct curve reconstruction research based on different local motion frames and to reconstruct the shape of the scraper conveyor. Firstly, the formation process of the ‘S’-shaped bending section of the scraper conveyor during the pushing process is determined. Based on the FBG sensing principle, a mathematical model between the variation in the central wavelength and the strain and curvature is established, and the cubic B-spline interpolation method is employed to continuously process the obtained discrete curvature. Secondly, based on differential geometry, a spatial curve reconstruction algorithm based on the Frenet moving frame is derived, and the shape curve prediction interpolation model is built based on a gated recurrent unit (GRU) model, which reduces the impact of the decrease in curve reconstruction accuracy caused by damage to some grating measuring points. Finally, an experimental platform was designed and built, and sensors with curvature radii of 6 m, 7 m, and 8 m were tested. The experimental results showed that the reconstructed curve was essentially consistent with the actual shape, and the absolute error at the end was about 2 mm. The feasibility of this reconstruction algorithm in engineering has been proven, and this is of great significance in achieving shape curve perception and straightness control for scraper conveyors.